Industrial robot

ABSTRACT

An industrial robot comprising a manipulator with a control system, where the manipulator comprises a hollow, first robot unit ( 9 ) and a second robot unit ( 10 ) rotatable around an axle (A). The first robot unit ( 9 ) and the second robot unit ( 10 ) are arranged for rotation and/or bending in relation to each other and the second robot unit (10 includes a robot tool ( 11 ). Cables ( 12 ) are drawn through the first robot unit ( 9 ) and arranged coaxially and detachably connected with a first end ( 13 ), to the second robot unit ( 10 ), via a connection device. The connection device comprises a body ( 14 ), fixed to the first end ( 13 ) of the cables in at least one wire and the body ( 14 ) is arranged with sockets ( 19 ) for connection of power supply to the robot tool ( 11 ).

TECHNICAL FIELD

The invention relates to an industrial robot, a method for equipping therobot with a cable harness, a cable harness, and use of the robot.

BACKGROUND ART

In industrial robots, it is common practice to arrange the cable harnessinternally of the robot to protect the cable harness. When manufacturingindustrial robots with an internally drawn cable harness, there is aneed to impart great mobility to a robot tool in the form of bending androtational movements. The movements of the tool during operation entailbending and rotational movements of the cable harness. In an industrialrobot, therefore, the cable harness is subjected to movements repeatedin cycles, and these movements result in wear on individual strandsincluded therein. For one thing, the individual strand is worn, and, foranother, wear arises between the individual strands in the cableharness. If the wear is allowed to continue for a long time, it leads todamage to the cable harness, which in turn leads to unwanted and, in theworst case, sudden shutdowns. In the light of these facts, a cableharness is judged to have a certain service life depending on, interalia, the extent to which it is bent and turned during the work cyclesof the robot. The service life of the cable harness is dependent on therobot application in question. Therefore, the operating routinecomprises replacing a worn-out cable harness with a new cable harness ingood time, according to scheduled service intervals, before a risk ofdamage and shutdown arises.

The determination cable harness here means a process cable harness for,for example, electric power for welding electrodes, power supply forrobot tools and a robot, electric signal cables for transmission ofinformation from sensors at the tool, hoses for compressed air andcooling medium, or combinations thereof in accordance with the clientapplication at hand. In addition, the determination comprises sparecircuits for, for example, the various needs of the client.

In the patent document EP 0 873 826, a wrist for an industrial robot isshown. The wrist is built up of three parts that are rotatably connectedto one another and designed so as to form a continuous open channel.Cables and wires for the power supply are drawn through the three partsof the wrist and to the rear part of a tool holder. Inside the wristpart, nearest the tool holder, the cable harness is attached with aclamping device. On its way from the clamping device to the tool holder,the cable harness is adapted to branch out radially in separatelines/strands, which are each individually connected on the periphery ofthe tool holder. Between the clamping device and the connection on theperiphery of the tool holder, each individual line/strand is arranged soas to be bent 90°. The object of the device is to completely enclose andprotect the cable harness. The design permits a maximum of 90° bendingof the wrist by rotation of the parts included under simultaneousbending and rotation of the cable harness.

The U.S. Pat. No. 5,549,016 shows a wrist intended for an industrialrobot. A cable harness is drawn through the wrist and, in addition, eachone of the strands included in the cable harness is individuallyconnected to the unit supporting the working tool of the robot.

In the operation of industrial robots, there is a need to minimize thetime for service of the robot, since a shut-down for service entailsnon-productive time and thus increased operating costs.

One way of reducing the time for service shutdowns is to extend theservice life of the cable harness. An extended service life of the cableharness results in increased operating time between replacements ofcable harnesses, whereby the time for service shutdowns in total termsdecreases. Especially in the operation of industrial robots inapplications with requirements for great mobility of the wrist of therobot, the need to extend the service life of the cable harness, byreducing the wear thereof, arises.

A device or apparatus that corresponds to the relevant clientapplication is arranged on the tilt of the robot writs and, for the sakeof simplicity, it is designated robot tool in the following. Examples ofrobot tools are a spot welding gun, a tool for handling equipment, and alaser cutter.

The movements of the robot tool cause the cable harness connected to therobot tool to be subjected to repeated bending/rotation, the strandsincluded in the cable harness thus being displaced axially in relationto one another. The axial displacements lead to abrasion between theindividual strands and between the strands and the outer casing of thecable harness. The abrasion results in unwanted wear of the cableharness. This results in a need to arrange a cable harness and toconnect it such that the wear between the individual strands isminimized/eliminated and that the service life of the cable harness isincreased.

All in all, the time for a service shutdown decreases when the time ofeach individual cable harness replacement decreases. This creates a needof arranging a cable harness in a robot such thatreplacement/supplementation of the cable harness takes place rapidly andsimply.

This need cannot be fulfilled by any of the industrial robots shown inthe cited documents, taken together.

SUMMARY OF THE INVENTION

The object of the present invention is to reduce the operating time thatis lost as service time when replacing a cable harness. The object isthus to arrange an industrial robot that makes possible rapidreplacements or supplementations of the whole of or parts of a cableharness and that the cable harness as such is adapted so as to have acomparatively longer service life. The cable harness is preferablyarranged so that, during movement of the robot tool, the cable harnessmanages a bending of more than 90° while being simultaneously rotated.

According to the invention, the above-mentioned object is achieved withan industrial robot that exhibits the characteristic features describedin the characterizing part of claim 1. The solution according to theinvention is to arrange an industrial robot comprising a manipulator anda control system. The manipulator comprises a hollow first robot unit, asecond robot unit being rotatable about a centre axis, where the firstrobot unit and the second robot unit are adapted for rotation and/orbending relative to one another. The second robot unit supports a robottool, defined according to the above. A cable harness is arranged, drawnby a first end through the first robot unit and is further arrangeddetachably connected to the second robot unit via a connection device.The connection device comprises a body and at least one of thelines/strands, included in the cable harness, is secured in the body.The body according to the invention comprises terminals for connectionof the power supply to the robot tool according to the application. Inaccordance with the present independent device claim, the cable harnessis secured, by a first end, to a body for detachable connection to arotating robot unit.

The industrial robot according to the invention is arranged inaccordance with the dependent claims. It is part of the inventiveconcept that the first robot unit is adapted for rotation and/or bendingand that the first robot unit is arranged in immediate proximity to thesecond robot unit. It is also part of the inventive concept that therobot units are arranged in spaced relationship to each other via atleast one intermediate robot unit in the manipulator.

In an advantageous embodiment of the invention, an industrial robot isarranged with a cable harness which, by its first end, is drawn throughthe robot wrist and is detachably connected to the turning disc providedwith a robot tool. The second robot unit here consists of a turning discthat supports a robot tool.

The solution according to the invention comprises shortening the timefor service shutdowns by making possible simple and rapid cable harnessreplacements. In an advantageous embodiment, the body according to theinvention is arranged axially divided into two separate parts that arecoaxially series-connected and detachably connected by, for example, aquick coupler. The first part is secured to the first end of the cableharness. The second part is detachably connected to, for example, aturning disc in a robot wrist. It is to be understood here that thequick coupler withstands the high water and air pressures prevailing.

In an additional embodiment of the invention, the cable harness isprovided at its first end with a body according to the invention and atits second end arranged with a dividing section, wherein the dividingsection implies that the cable harness is divisible into two parts inthe longitudinal direction. The cable harness is coupled by means of,for example, a quick coupler at the dividing section. This affords thepossibility of simply and rapidly detaching and replacing only part ofthe cable harness. For example, a cable harness part according to theinvention constitutes a comparatively shorter internal cable harness,which is drawn through a robot wrist and adapted to be connected to ordetached from a turning disc.

It is part of the inventive concept that a body according to theinvention is detachably built into the second robot unit. In a furtherembodiment, the body according to the invention is radially divided intoat least two sub-bodies. The division into sub-bodies facilitatesleading the cable harness through the narrower passages in amanipulator, which will be explained in greater detail below. Thesub-bodies are then mounted into, for example, a turning disc and arethen arranged detachably built in. The sub-bodies hence offer a simpleconnection of the power supply to a robot tool.

In a further advantageous embodiment, the body according to theinvention is arranged divided into sub-bodies with compatible shapes. Bycompatible shapes are meant that the sub-bodies may fit into one anotherlike pieces in a jig-saw puzzle. In this way, the sub-bodies togetherform a compact and detachable body. The compatible shape of thesub-bodies is shaped such that the sub-bodies hook into one another whenthey are fitted into one another. Alternatively, the sub-bodies areretained by a holder device when the cable harness is drawn through themanipulator, the holder device being removed when the cable harness isin position in the manipulator.

The solution according to the invention comprises extending the servicelife of a cable harness by reducing the internal wear in the cableharness and then, in particular, by eliminating the axial changes inlength that occur in the wrist portion of a cable harness whenbending/rotating a robot tool.

In one advantageous embodiment of the invention, a cable harness isarranged during manufacture to be rotated around the longitudinal axisof the cable harness in accordance with the dependent claim 11.Installed in an industrial robot, the cable harness constitutes adetachable part length of the cable harness in accordance with thedependent claim 10 and is, for example, the above-mentioned sectionthrough the wrist. The central portion of a cable harness consists of atube/hose.

The inventive concept comprises a cable harness according to theindependent claim 13. A body according to the invention, defined asabove, is secured at one end of the cable harness. The body is arrangedwith at least one terminal for connection of the power supply to a robottool. Advantageous embodiments of the cable harness according to theinvention are arranged in accordance with the dependent claims 14-17.

Claims 16 and 17 describe an advantageous embodiment of the inventionwherein the cable harness is arranged by providing a central tube/hose,during manufacture, with a quick-coupling unit at one end and a bodyaccording to the invention at its other end. Thereafter, the strands arearranged radially around the tube/hose, whereupon they are twistedhelically at least one turn around the longitudinal axis of the tube andthe cable harness and are attached to the body and to the quick-couplingunit, respectively. According to the inventive concept, thinner hosesmay also be arranged twisted in the cable harness in the same way as theabove-mentioned strands.

By manufacturing the cable harness along a longitudinal section rotatedone or several turns around the longitudinal axis of the cable harnessand then mounting it so as to rotate with the second robot unit and, inuse, subjecting it to bending, an axial displacement and formation ofslack occur in each individual strand over each twist turn. The axialdisplacement and the formation of slack cancel each other out over eachtwist turn and hence no axial displacement of the strands takes placeupon bending. The above-mentioned internal wear on the cable harness isthus eliminated. It is further part of the inventive concept to arrangethe cable harness with dividing sections such that it may be dividedinto a number of part lengths.

The inventive concept comprises all industrial robots that comprise afirst and a second hollow robot units, rotatable around their respectivelongitudinal axes, adapted for bending and/or rotation relative to eachother. This description is not to be seen as a limitation of theinvention but only as guidance for a full understanding of theinvention. Adaptations to robot cells with other active parts includedand replacement of parts and features that are self-explanatory to aperson skilled in the art are, of course, part of the inventive concept.

BRIEF DESCRIPTION OF THE DRAWING

The invention will be explained in greater detail by description ofembodiments with reference to the accompanying drawing, wherein

FIG. 1 shows an example of an industrial robot,

FIGS. 2 a-g show schematic advantageous embodiments of the inventionwith one end of a cable harness arranged with a body according to theinvention, a turning disc and a robot tool,

FIG. 3 shows an embodiment of the invention with a body according to theinvention divided into sub-bodies that are built into a turning disc,

FIG. 4 shows an embodiment with the body according to the inventionconnected to a turning disc and provided with connections for the powersupply of a robot tool,

FIG. 5 shows an embodiment of the invention, wherein the body accordingto the invention comprises axial connections for the power supply of therobot tool and is detachably connected to a turning disc,

FIG. 6 shows an embodiment of the body according to the inventiondivided into three compatible sub-bodies,

FIGS. 7 a-c schematically show a robot cable harness according to theinvention, arranged so as to be divided into two part lengths(connection terminals not being shown),

FIG. 8 shows a cable harness arranged at one end with a body accordingto the invention built into a turning disc (partly shown) and arrangedat its other end with a coupling device and arranged with lines/strandstwisted around the centre axis B,

FIG. 9 shows a cable harness according to the invention,

FIGS. 10 a-c show various advantageous embodiments of the cable harnessaccording to the invention,

FIG. 11 shows various advantageous embodiments with a standard interfaceand a tool changer,

FIGS. 12 a and 12 b show two alternative interfaces ahead of the turningdisc as viewed from the robot foot.

DESCRIPTION OF THE PREFERRED EMBODIMENT

The invention relates to an industrial robot and the invention isexemplified in FIG. 1 by a six-axis robot 1 comprising a manipulator 2with a control system (not shown). The manipulator 2 exhibits a robotfoot 3, a stand 4, and a robot arm 5. The stand 4 is rotatably arrangedon the robot foot 3. The robot arm 5 is rotatably arranged on the strandat a joint 6. The robot arm 5 comprises at least a first arm part 7supporting a vertically oriented, rotating upper arm 8 as well as awrist 9, which are rotatably arranged in relation to each other. At itsfree end, the upper arm 8 supports the wrist 9, which comprises aturning disc 10 provided with a robot tool 11 where the wrist 9 and theturning disc 10 are rotatably and bendably movable in relation to eachother.

A cable harness 12 is drawn by its first end 13 through the upper arm 8,through the wrist 9 and up to the turning disc 10, which is shown inFIG. 1 a. At the first end 13 of the cable harness, a body 14 accordingto the invention is secured. The cable harness 12 is detachablyconnected to the turning disc 10 via the body 14 according to theinvention.

FIGS. 2 a-g show different embodiments of the invention, where a body 14according to the invention is arranged at a first end 13 of a cableharness 12 and where the cable harness is further detachably connectedto a turning disc 10. The body 14, the turning disc 10 and the robottool 11 are shown fully schematically with simple symbols in order tosimply and clearly describe the various alternative embodimentsaccording to the invention.

FIG. 2 a shows a body 14 a connected to a turning disc 10 a, which inturn supports a robot tool 11 a. The power supply to the robot tool 11 boccurs via lines/cables 15 a, which extend from the robot tool 11 a andare connected to the body 14 a. The respective coupling 16 is shown inFIGS. 2 a-g only simplified by means of an arrow.

The device in FIG. 2 b differs from the embodiment of FIG. 2 a only inthat the power supply 15 b to the tool 11 b is connected both to thebody 14 b connected to the turning disc 10 b, and to the robot tool 11b.

In FIGS. 2 a and 2 b, the lines/cables for the power supply of the robottool are connected radially or, alternatively, by means of obliqueconnections to the body according to the invention connected to theturning disc.

In FIG. 2 c, a body 14 c according to the invention is built into aturning disc 10 c and here the mounting is designed such that the powersupply 15 c to a robot tool 11 c is connected to the turning disc 10 cradially or, alternatively, obliquely. The mounting of the body 14 c inthe turning disc 10 c will be described below.

FIG. 2 d shows an embodiment in which a body 14 d according to theinvention has been physically divided, by means of a radial cut, intotwo coaxial sub-bodies 17 d and 18 d, which are adapted to be connectedin series with the aid of a quick coupler (not shown). The sub-body 17 dis secured to the first end 13 d of the cable harness 12 d. The secondsub-body 18 d is arranged detachably connected to the first sub-body 17d and to a turning disc 10 d. The power supply to the robot tool 11 d isoccurs via lines/cables 15 d, which are connected to the second sub-body18 d. By detaching the first sub-body 17 d from the second sub-body 18d, the cable harness 12 d is detached from the turning disc 10 d.

The embodiment shown in FIG. 2 e differs from FIG. 2 d in that a secondsub-body 18 e, in its turn, is divided into sub-bodies 18 e′, which aredetachably built into a turning disc 10 e. Lines/cables 15 e for thepower supply to a robot tool 11 e extend from the tool and are connectedto the inventive sub-bodies 18 e′ built into the turning disc 10 e. Inan alternative embodiment according to FIG. 2 e, short internal cableharnesses according to the invention are arranged in the turning disc tobe connected to the sub-body 17 e and the respective sub-body 18 d′(notshown).

The division of the body 14 according to the invention into twosub-bodies 17 and 18 makes it possible to detach a first end 13 of acable harness 12, which is fixed in the first sub-body 17 and thereafterto pull out the first end of the cable harness in a direction towardsthe robot foot. This makes it simple and quick to replace a cableharness without having to detach the connection of the second sub-body18 to, or mounting thereof in, a turning disc 10.

The body 14 according to the invention is provided with a terminal 19for connection of the power supply 15 to the robot tool 11. In FIGS. 2a-e, the terminals 19 are shown in simplified form and radially arrangedin relation to the longitudinal axis of the cable harness.

In FIG. 2 f, an embodiment is shown in which a body 14 f according tothe invention is secured to the first end 13 f of the cable harness 12f. The body 14 f is detachably arranged on a turning disc 10 f thatsupports a robot tool 11 f. The power supply 15 f to the robot tool 11 fis connected to the body 14 f via the terminals 19 and couplings 16arranged internally in the turning disc 10 f and axially in relation tothe cable harness.

FIG. 2 g shows an embodiment that is a combination of the embodimentsaccording to FIGS. 2 d and 2 f. The body according to the invention isdivided into the sub-bodies 17 g and 18 g. The sub-body 18 g comprisesaxially arranged terminals 19 for connection of the power supply 15 to arobot tool 11 g. The embodiment makes it possible to disconnect thecable harness without having to detach the power supply of the robottool.

FIG. 3 shows an embodiment with a body according to the invention thatis secured to a first end of the cable harness 12. The body is dividedinto four sub-bodies 20, 21, 22 and 23 (not shown), which sub-bodies aredetachably built into the turning disc 10. The sub-bodies are retainedduring the installation to facilitate leading the end of the cableharness through the manipulator. Each sub-body comprises a terminal 19for connection of the power supply 15 to a robot tool (not shown). InFIG. 3, a sub-body 22 of the power supply 15 for the robot tool (notshown) is axially connected to the turning disc 10.

FIG. 4 shows an embodiment of the invention where a body 14 comprisesradially arranged connections 24 for the power supply of a robot tool.The body 14 is provided with a quick coupler (not shown) to be simplyand quickly detached from a turning disc. It is inherent in the designthat the body 14 is provided with axial locking 25, rotational locking26 and centring 27, which is clear from the figures.

FIG. 5 shows an embodiment of the invention where the body 14 accordingto the invention comprises axial connections for the power supply 15 ofthe robot tool 10 and is detachably connected to a turning disc 10.

FIG. 6 shows a body 14 according to the invention, divided into threesub-bodies 20′, 21′and 22′ with a compatible design.

FIG. 7 a shows a cable harness 12 according to the invention, dividedinto a first 29 and a second part length 30, which part lengths aredetachably interconnected through a coupling device 31. The first end 32of the first part length 29 is adapted for detachable connection to thesecond robot unit 10. The second end 33 of the first part length 29 isadapted for detachable connection to the first end 34 of the second partlength 30. The figure shows the part length prior to connection to theunit 10 and the device 31, respectively.

FIG. 8 shows a cable harness in accordance with the invention with thebody according to the invention divided into sub-bodies 20″, 21″ and 22″(not shown), which are detachably built into a turning disc 10. Thecable harness is provided with lines/strands 35, which are radiallyextended and arranged twisted around a centre line B according to theabove. The central portion of the cable harness consists of a tube/hose,one end of which supports a coupling device 31. The attachment of thecable harness is designed so that a coupling device 31 rotates with theturning disc 10.

FIG. 7 b shows a schematic picture of a cable harness according to FIG.7 a with the part length 29 arranged with strands 35B, twisted aroundthe longitudinal axis, along the length section 36 of the part length. Acentral tube/line is drawn in dashed line in the figure. The powersupply is connected axially between the body 14 and the turning disc 10.The figure shows the part length 29 prior to connection to the unit 10and the device 31, respectively.

FIG. 7 c schematically shows a cable harness rotated according to theabove, where the body according to the invention is divided intosub-bodies, which are detachably built into a turning disc 10. Thefigure shows the part length 29 with the body 14 detachably built intothe turning disc 10 but prior to connection to the device 31.

FIG. 9 schematically shows a cable harness 37 according to the inventionintended for an industrial robot. The cable harness comprises a firstend 38 and a second end 39. A body 14 according to the invention, anddefined according to the above, is secured to the first end 38 of thecable harness. The body 14 comprises at least one terminal 19 forconnection of the power supply and the necessary media (fluids) to arobot tool. The terminal 19 is arranged on the body and directedaxially, radially or at a non-right angle in relation to thelongitudinal axis of the cable harness.

FIGS. 10 a-c schematically show different embodiments of the cableharness according to the invention, which is shown in FIG. 9. In FIG. 10a, the body 14 according to the invention is divided into two sub-bodies40 b and 41 b, which are coaxially arranged and detachablyinterconnected in series. The embodiment permits disconnection of thecable harness 37 without having to disconnect the sub-body 41 b with theconnection terminals 19, in accordance with the industrial robotdescribed above. FIG. 10 b shows a cable harness provided with the body14 according to the invention, divided into two sub-bodies 40 c and 41c, which have been given a compatible design. The connection terminals19 are arranged axially as well as radially in relation to thelongitudinal axis of the cable harness. A holder device 42 is adapted toretain the sub-bodies while installing the cable harness in amanipulator and to be removed prior to connection of the sub-bodies 40 cand 41 to a turning disc. FIG. 10 c shows a cable harness provided withlines/cables 43, radially extending from the centre line (B) of thecable harness and twisted around the centre line (B) of the cableharness.

FIG. 11 shows an interface ahead of the turning disc at the sixth axisin a six-axis industrial robot. This results in an attachment flange forvarious types of interfaces, for example a built-in tool changer fortransmitting process media (manually or automatically) or the customer'sown interfaces. This eliminates the need of an additional cable harnessand renders the offset equal up to a robot tool irrespective of whicharrangement has been chosen. Further, an external cable harness betweenstandard interface and tool changer is eliminated. The transfer of themedia between the application and the robot takes place internally. Thesame interface is obtained for all types of applications. Changingapplications and providing the robot with different interfaces to thecustomer will be easy. The interface between the robot part and thecustomer part will be clearly defined.

FIGS. 12 a and 12 b show alternative embodiments of an interfaceaccording to the invention ahead of the turning disc as viewed from therobot foot, where the cable harness is not shown for the sake ofclarity.

1. An industrial robot comprising a manipulator with a control systemwhere the manipulator comprises a hollow first robot unit, a secondrobot unit rotatable about an axis where the first robot unit and thesecond robot unit are adapted for rotation and/or bending relative toeach other and where the second robot unit supports a robot tool,wherein a cable harness is drawn through the first robot unit andarranged coaxially and detachably connected with a first end to thesecond robot unit via a connection device, wherein the connection devicecomprises a body, secured to the first end of the cable harness in atleast one line/strand, and that the body is provided with terminals forconnection of a power supply to the robot tool.
 2. The industrial robotaccording to claim 1, wherein the body is detachably built into thesecond robot unit.
 3. The industrial robot according to claim 1, whereinthe second robot unit comprises of a turning disc adapted to support arobot tool.
 4. The industrial robot system according to claim 1, whereinthe body is divided into at least two sub-bodies.
 5. The industrialrobot according to claim 4, wherein at least one sub-body is detachablybuilt into the second robot unit.
 6. The industrial robot according toclaim 4, wherein the body is axially divided into a first part and asecond part, which first and second parts are coaxially arranged anddetachably interconnected in series.
 7. The industrial robot accordingto claim 4, wherein the body is radially divided into at least twosub-bodies.
 8. The industrial robot according to claim 7, wherein thesub-bodies are arranged with a compatible design.
 9. The industrialrobot according to claim 1, wherein the cable harness included in therobot is divided into at least one first and one second part length,said part lengths being detachably interconnected through a couplingdevice.
 10. The industrial robot according to claim 9, wherein the firstpart length is, on the one hand, arranged with a body secured to thefirst end of the part length for detachable connection to the secondrobot unit, and, on the other hand, at the second end of the part lengthadapted for detachable connection to the first end of the second lengthsection.
 11. The industrial robot according to claim 9, wherein thefirst part length of the cable harness is provided with lines/cablesradially extending from the center line of the cable harness and twistedaround the center line.
 12. The industrial robot according to claim 11,wherein the lines/cables included in the first part length are arrangedtwisted at least one turn around the center line along the lengthsection of the part length.
 13. A cable harness, intended for anindustrial robot according to claim 1 comprising a robot tool, exhibitsa first and a second end, wherein a body is secured to one end of thecable harness and that the body is provided with at least one terminalfor connection of power supply to the robot tool.
 14. The cable harnessaccording to claim 13, wherein the body is divided into at least twosub-bodies.
 15. The cable harness according to claim 14, wherein thesub-bodies are arranged with a compatible design.
 16. The cable harnessaccording to claim 1, wherein the cable harness is provided withlines/cables extending from the center line of the cable harness andtwisted around the center line.
 17. The cable harness according to claim16, wherein the lines/cables included in the cable harness are arrangedtwisted at least one turn around the center line along the length of thecable harness.